Intelligent control for a remotely operated vehicle

This article considers the tracking control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great sea depths. The vehicle is subjected to different load configurations that introduce considerable variations of its mass and inertial parameters. In this work it...

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Bibliographic Details
Published in:International journal of systems science 2009-11, Vol.40 (11), p.1099-1114
Main Authors: Cavalletti, M., Ippoliti, G., Longhi, S.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Deposition
Exact sciences and technology
Exploitation
mode switch process
Modelling and identification
Neural networks
remotely operated vehicle
Remotely operated vehicles
Switching
switching supervisory control
Tracking control
Vehicles
Vibration
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Summary:This article considers the tracking control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great sea depths. The vehicle is subjected to different load configurations that introduce considerable variations of its mass and inertial parameters. In this work it is assumed that the possible vehicle configurations are known, but the time instants when the changes occur and the new vehicle configuration following the change are unknown. A neural network-based switching control is proposed for the considered mode-switch process. This solution simplifies the control scheme implementation and reduces the control signal chattering.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207720902974512